Position error compensation method of robot

Abstract

The invention discloses a position error compensation method of a robot. The method includes the following steps that (1) geometric parameter errors and non-geometric parameter errors which cause endeffector position errors of the robot are equivalently regarded as virtual pseudo errors; (2) an end effector position error curved surface caused by the pseudo errors is fitted by the aid of an artificial neural network, and a mapping model of the end effector position errors and robot joint parameters is built; (3) an optimization algorithm of the artificial neural network is designed on the basis of the multi-species co-evolutionary network method, the weight, the threshold value and the network structure of the artificial neural network are optimized, and the fitting precision and the generalization ability of the neural network are further improved; and (4) the end position errors are predicted by the aid of the optimized neural network, the robot joint parameters which are required to be compensated are obtained, and compensation is performed in the robot joint space. According to the method, the end effector position errors of the robot are compensated, so that the end positionprecision of the robot is improved.

Description

technical field [0001] The invention relates to the field of robot kinematics parameter calibration, in particular to a position error compensation method of a robot. Background technique [0002] At present, there are many sources of errors that cause robot end position errors, such as robot geometric parameter errors caused by processing, assembly and environmental factors, robot non-geometric parameter errors caused by nonlinear parameters such as structural stiffness, reducer flexibility, and driver flexibility, and Non-parametric errors caused by non-parameters such as ambient temperature, frictional environment, and control parameters; these different types of parameters are coupled with each other and have very strong nonlinearity, which is difficult to mathematically represent through traditional modeling methods The parameter calibration method of the model performs parameter error calibration and compensation. Model-based parameter error calibration and compensati...

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Problems solved by technology

[0005] Based on the problems existing in the prior art, the object of the present invention is to provide a position error compensation method for a robot, which can solve the problem that the existing robot position error compensation method cannot compensate the position error of the end effector in the entire workspace and Problems such as poor compensation accuracy

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